EEG-Based Inverse Reinforcement Learning for Safety-Oriented Global Path Planning in Dynamic Environments

摘要

Recent advancements in lightweight electroencephalogram(EEG) signal classification have enabled real-time human–robot interaction, yet challenges persist in balancing computational efficiency and safety in dynamic path planning. This study proposes an EEG-based inverse reinforcement learning (EIRL) framework to simulate human navigation strategies by decoding neural decision preferences. The method integrates a pruned WNFG-SSCCNet-ADMM classifier for EEG signal mapping, apprenticeship learning for reward function extraction, and Q-learning for policy optimization. Experimental validation in an 8 × 8 FrozenLake-v1 environment demonstrates that EIRL reduces average path risk values by 50% compared with traditional reinforcement learning, achieving expert-level safety (Δ = 4) while maintaining optimal path lengths. The framework enhances adaptability in unknown environments by embedding human-like risk aversion into robotic planning, offering a robust solution for applications requiring minimal prior environmental knowledge. Results highlight the synergy between neural feedback and computational models, advancing inclusive human–robot collaboration in safety-critical scenarios.